[ROS2] Increase publishing frequency of state topics

[xwxing1229]

I want to try with a custom controller that computes total thrust and torque for quadrotors. I made a control allocator that computes (total thrust, torque) to rotor PWMs. Currently, the control frequency is 100Hz. I use the Iris model. The drone can track the given reference trajectory but has jitters.

Maybe the control frequency is too low for PWMs. I want to try with a higher control frequency. I obtain drone states from the following topics:

1. /fmu/out/vehicle_local_position
2. /fmu/out/vehicle_attitude
3. /fmu/out/vehicle_angular_velocity

I want to increase the publishing frequency of /fmu/out/vehicle_angular_velocity in Gazebo. How should I do it?

Suggestions related to jitters during flying are also greatly appreciated. Thanks.